实时跟踪单个快速游动细菌的机器人平台

Optomechatronic Technologies (ISOT), 2010 International Symposium on : 25-27 Oct. 2010 : [Toronto, ON]. International Symposium on Optomechatronic Technologies (2010 : Toronto, Ont.) Pub Date : 2010-10-01 DOI:10.1109/ISOT.2010.5687357

Charles Tremblay, Joscelyn Jean, L. Marchand, Ali Turki, Philippe Chouinard-Gaouette, Mathieu Brousseau, M. Mohammadi, S. Martel

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引用次数: 3

摘要

在本文中，我们提出了一个硬件架构和软件实现，能够跟踪自由游动的直径为2 μ m的单个MC-1细菌。计算机视觉系统在全速运行时最高可达77 fps，在从耦合充电设备(CCD)阵列记录完整512×512像素帧时最高可达24 fps。采用基于三次样条模型的Otsu分割方法(OSM)实现闭环锁定跟踪控制。使用该系统，记录了MC-1细胞的速度分布，显示平均速度为200µm/s。跟踪演示在30秒内的几毫米范围内。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Robotic platform for real-time tracking of a single fast swimming bacterium

In this paper we present a hardware architecture with software implementation able to track free swimming single 2µm in diameter MC-1 bacterium. The computer vision system operates at up to 77 fps at full speed and up to 24 fps when recording full 512×512 pixels frame from coupled-charge device (CCD) array. Closed-loop control with lock-in tracking is achieved using the Otsu Segmentation Method (OSM) with a cubic spline model-based predictive algorithm. Using the system, speed distribution of MC-1 cells has been recorded showing a m ean speed of 200µm/s. Tracking is demonstrated over a range of a few millimeters during 30 sec.

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Optomechatronic Technologies (ISOT), 2010 International Symposium on : 25-27 Oct. 2010 : [Toronto, ON]. International Symposium on Optomechatronic Technologies (2010 : Toronto, Ont.)

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